Yes, exes can be friends, but if you ended things on bad terms, then it’s not a good idea.
And if he still wants you to be friends, look at it as a cunning plan to get you back.
It’s normal to miss things about each other after a breakup. You’ve been with each other some time, and you’ve gotten used to each other.
Now that the relationship is over, the both of you need some time to get used to the new situation.
Him asking to hang out with you means he wants you back in his life under all circumstances.
Now, is it because he wants you back or because he doesn’t know how to cope with separation? That is up to you to decide.
The bottom line is he misses you.